tgBulletGround.cpp

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

// This module
#include "tgBulletGround.h"

//Bullet Physics
#include "BulletCollision/CollisionShapes/btCollisionShape.h"

// The C++ Standard Library
#include <cassert>

tgBulletGround::tgBulletGround() :
tgGround(),
pGroundShape(NULL)
{
    // Supress compiler warning for bullet's unused variable
    (void) btInfinityMask;
}

tgBulletGround::~tgBulletGround() 
{ 
    delete pGroundShape;
}

btCollisionShape* const tgBulletGround::getCollisionShape() const
{
                assert(pGroundShape);
                return pGroundShape;
}